import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
   return LaunchDescription([
      Node(
         package='fishbot_behavior_tree',
         executable='fishbot_bt_loader',
         output="screen",
         parameters=[
            {
               "plugins": [
                  "fishbot::behaviors::BasicBehaviorLoader",
                  "fishbot::behaviors::GenericBehaviorLoader"
               ],
               "service_execute_tree": "/fishbot/bt/execute"
            }
         ]
      )
   ])